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<p>Utility functions for 3D rotations.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="../../de/dda/_math_utilities_8h_source.html">Math/MathUtilities.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>&quot;</code><br />
<code>#include &lt;eigen3/Eigen/Dense&gt;</code><br />
<code>#include &lt;cmath&gt;</code><br />
<code>#include &lt;iostream&gt;</code><br />
<code>#include &lt;type_traits&gt;</code><br />
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<p><a href="../../d4/dfb/orientation__tools_8h_source.html">Go to the source code of this file.</a></p>
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Functions</h2></td></tr>
<tr class="memitem:ab66b0f13a5bbe6887c815cc1f97b6a13"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:a537b8d0769c03e4cd8ef2b9a9dc8a760"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:af88fa91d686c646d41f9b747a6bc90f0"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:ade40aba34aa5e6b4f82753eb3c63d16a"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="separator:ade40aba34aa5e6b4f82753eb3c63d16a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a90e9fca31a184b48790b43aa6f44fcbd"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a90e9fca31a184b48790b43aa6f44fcbd"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; typename T::Scalar &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../da/d9b/namespaceori.html#a90e9fca31a184b48790b43aa6f44fcbd">ori::quatToso3</a> (const Eigen::MatrixBase&lt; T &gt; &amp;q)</td></tr>
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<tr class="memitem:a4a1bdfe61995fc50713a5bba4ccbc8cb"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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<tr class="memitem:afa58699364d5378139e91ec6f0972475"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 &gt; </td></tr>
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<tr class="memitem:a89494866325446c634184782e56113ff"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a89494866325446c634184782e56113ff"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a>&lt; typename T::Scalar &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../da/d9b/namespaceori.html#a89494866325446c634184782e56113ff">ori::quatProduct</a> (const Eigen::MatrixBase&lt; T &gt; &amp;q1, const Eigen::MatrixBase&lt; T &gt; &amp;q2)</td></tr>
<tr class="separator:a89494866325446c634184782e56113ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac12ecf143879de178929ecaad1714a6a"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 , typename T3 &gt; </td></tr>
<tr class="memitem:ac12ecf143879de178929ecaad1714a6a"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a>&lt; typename T::Scalar &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../da/d9b/namespaceori.html#ac12ecf143879de178929ecaad1714a6a">ori::integrateQuat</a> (const Eigen::MatrixBase&lt; T &gt; &amp;quat, const Eigen::MatrixBase&lt; T2 &gt; &amp;omega, T3 dt)</td></tr>
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<tr class="memitem:a24ac869b814e7e46a63c4ee97e3279ea"><td class="memTemplParams" colspan="2">template&lt;typename T , typename T2 , typename T3 &gt; </td></tr>
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<tr class="memitem:a26df2f27ad5ea245384c0e20fb0cb1c2"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a26df2f27ad5ea245384c0e20fb0cb1c2"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../da/d9b/namespaceori.html#a26df2f27ad5ea245384c0e20fb0cb1c2">ori::quaternionToso3</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a>&lt; T &gt; quat, <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;so3)</td></tr>
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<tr class="memitem:a1d645df5c53cbaf41b0a10b46baf8f47"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a1d645df5c53cbaf41b0a10b46baf8f47"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a>&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../da/d9b/namespaceori.html#a1d645df5c53cbaf41b0a10b46baf8f47">ori::so3ToQuat</a> (<a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;so3)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:a324ebc9ef2225bdf72de8d94408bf047"><td class="memItemLeft" align="right" valign="top">static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../da/d9b/namespaceori.html#a324ebc9ef2225bdf72de8d94408bf047">ori::quaternionDerviativeStabilization</a> = 0.1</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Utility functions for 3D rotations. </p>
<p>This file contains rotation utilities. We generally use "coordinate
transformations" as opposed to the displacement transformations that are commonly found in graphics. To describe the orientation of a body, we use a rotation matrix which transforms from world to body coordinates. This is the transpose of the matrix which would rotate the body itself into the correct orientation.</p>
<p>This follows the convention of Roy Featherstone's excellent book, Rigid Body Dynamics Algorithms and the spatial_v2 MATLAB library that comes with it. Note that we don't use the spatial_v2 convention for quaternions! </p>

<p>Definition in file <a class="el" href="../../d4/dfb/orientation__tools_8h_source.html">orientation_tools.h</a>.</p>
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